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Actually when you did nova set up password for user nova should be assigned. If this password is lost
Connect to mysql database as root ( just in case, you may consult mysql docs how root password may be reset )

[root@juno1 ~(keystone_admin)]# mysql -u root -p
Enter password: 
Welcome to the MariaDB monitor.  Commands end with ; or \g.
Your MariaDB connection id is 992
Server version: 5.5.39-MariaDB-wsrep MariaDB Server, wsrep_25.10.r4014

Copyright (c) 2000, 2014, Oracle, Monty Program Ab and others.

Type 'help;' or '\h' for help. Type '\c' to clear the current input statement.

MariaDB [(none)]> show databases;
+--------------------+
| Database           |
+--------------------+
| information_schema |
| cinder             |
| glance             |
| keystone           |
| mysql              |
| neutron            |
| nova               |
| performance_schema |
| test               |
+--------------------+
9 rows in set (0.01 sec)

MariaDB [(none)]> SELECT User, Host, Password FROM mysql.user;
+----------------+-----------+-------------------------------------------+
| User           | Host      | Password                                  |
+----------------+-----------+-------------------------------------------+
| root           | localhost | *4CA2CA63CD8C78AB6905E3B9AC2FDF6C214BDA07 |
| cinder         | %         | *BFC671F5B705FEBA5A0D3E8398D79B19B8E4D1E4 |
| nova           | %         | *E7548B04C2DCF23DDB2FEA6AE9999395544ECE93 |
| glance         | %         | *734862901428E2280672DA6DDF20E28ED012A82D |
| keystone_admin | 127.0.0.1 | *82CFF63948F8E1496DFEDF05FAC27DCA05B1BFA1 |
| neutron        | %         | *2908F3DC64E9243C42B285A9F442ABF27DD65820 |
| keystone_admin | %         | *82CFF63948F8E1496DFEDF05FAC27DCA05B1BFA1 |
+----------------+-----------+-------------------------------------------+
7 rows in set (0.00 sec)

Now set up nova password as you like :-

 MariaDB [(none)]> UPDATE mysql.user SET Password = PASSWORD('abcd0101')
            -> WHERE User = 'nova';
   MariaDB [(none)]> FLUSH PRIVILEGES ;

Connection string for nova.conf would be :-

connection=mysql://nova:abcd0101@controller/nova